Composite Crawler Robot Chassis Movement And Dynamics

This thesis presents the generating background of robots and the status quo of research both domestically and internationally, providing a comprehensive description on the technology applied in the chassis base of robots and elaborating the model-building theories and the analyzing approaches of ADAMS. It also creates the model of the chassis base and carries out an emulation under various conditions in accordance with different conditions as well as different constraints.The movement of the robot's chassis base is described kinematically in the coordinate system, and its operation stability is analyzed on the conditions of both the maximum and the nought gradient line. The dynamic model is built under the operation status of the chassis base, and the kinematic analysis is performed as well. In this thesis the driving couple while the chassis base is running under the circumstances of country-crossing and slope-climbing is analyzed, so is the ability of crossing barriers and the driving couple of the swing block.